A driver-adaptive stability control strategy for sport utility vehicles

Zhu, Shenjin; He, Yuping

doi:10.1080/00423114.2017.1308521

Cited by 16 publications

(4 citation statements)

References 17 publications

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“…Considering different drivers with various driving skills and habits, the parameters characterizing human drivers' driving behaviors, such as, reaction time (t) and preview time, may be treated as a subset of the overall parameter set of the vehicle system [23,24]. Under varied operating conditions and considering different drivers with various driving skills and habits, the LQR controller's gain matrix may be adaptively adjusted [25]. It is well known that with a given linear system, the control gain matrix of the LQR controller is directly determined by two weighting matrixes, i.e., Q (state variables associated) and R (control variables associated), and the performance index can be cast as,…”

Section: Proposed 2-layer Design Optimization Methodsmentioning

confidence: 99%

Optimization of Gain Scheduled Controller for an Active Trailer Steering System Using an Evolutionary Algorithm

Qureshi

Liscano

2022

Machines

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Car–trailer combinations can experience unstable motion modes such as trailer-sway, jackknifing and rollover that can lead to fatal accidents. These unstable motions can be mitigated with the use of an active trailer steering (ATS) system. Prior studies in ATS have leveraged the linear quadratic regulator (LQR) as an ATS controller but for many of these designs it was assumed that the vehicle and operating parameters were constant. In reality, vehicle and operating parameters may vary and have an impact on the stability of a car–trailer combination. In this paper, the weighting matrices of the LQR controller are determined using the GDE3 evolutionary optimization algorithm with the objective of addressing the design trade off between minimizing the car–trailer’s path-following performance for low vehicle speeds and minimizing the rearward amplification for high vehicle speeds. The effectiveness of the approach is demonstrated using a numerical simulation car–trailer model developed in the CarSim simulator. Our results show that the multi-objective tuned gain scheduling controller outperforms a non-tuned gain scheduling controller in terms of improving the lateral stability and the path following performance of car–trailer combinations in driver in the loop single lane-change maneuvers at a constant vehicle forward speed.

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Section: Proposed 2-layer Design Optimization Methodsmentioning

confidence: 99%

Optimization of Gain Scheduled Controller for an Active Trailer Steering System Using an Evolutionary Algorithm

Qureshi

Liscano

2022

Machines

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“…2 Up to now, driver-vehicle closed-loop simulation has been widely used in the design and development of vehicle active safety system. 3,4 Due to multi-unit structure configurations, larger sizes, and higher center of gravity (CoG)'s position of (articulated heavy vehicle) AHVs, the lateral stability of these large vehicles is poor. The jackknifing, trailer sway, and rollover are the mainly unstable motion patterns displayed for AHVs, which may contributes to the increasing rate of deadly traffic accidents.…”

Section: Introductionmentioning

confidence: 99%

A closed-loop directional dynamics control with LQR active trailer steering for articulated heavy vehicle

Deng

Jin

Gao

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part D:

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To improve the directional performance of articulated heavy vehicles (AHV), three previewed points driver model and LQR active trailer steering (ATS) strategy are proposed and examined using closed-loop driver/vehicle dynamics simulation. Firstly, a simplified linear three-degree-of-freedom (3-DOF) yaw plane model for AHV is established and validated. Secondly, based on the multi-point preview-predictor following strategy, the weighted-average error of three previewed points of the tractor is defined as the final lateral previewed displacement error. According to the assumption of constant yaw rate and the trajectory prediction of AHV, and three previewed points driver model has been configured, it’s path-following performance is verified. Thirdly, instead of using the idea of minimization, a linear quadratic regulator (LQR) controller is proposed based on the linear 3-DOF yaw plane model of AHV to make the control variables to keep following the desired responses. Through joint simulations using MATLAB/Simulink and TruckSim, the effectiveness of the built-in driver model, three-previewed point driver model and three-previewed point driver model + LQR ATS control methods on improving vehicle orientation performance were compared and analyzed through closed-loop driver/vehicle dynamics simulations. The significant effectiveness of the proposed method in improving maneuverability and stability is verified through low-speed 360° trajectory tracking tests and high-speed double lane change maneuver simulations. Finally, a hardware-in-the-loop (HIL) platform is used to further verify the effectiveness of the designed strategy.

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“…18–20 It is worth noting that among these active stability control methods, differential braking is one of the most concerned control strategies. 21–25…”

Section: Introductionmentioning

confidence: 99%

Influence of braking on dynamic stability of car-trailer combinations

Zhang

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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The influence of braking on dynamic stability of a car-trailer combination (CTC) is studied in this paper. The braking is simply modeled and integrated into a single-track model (STM) with a single-axle trailer. On this basis, some fundamentals and analysis results related to system dynamic stability are given through simulation. Furthermore, it is found that the axle load transfer and braking force distribution have a great influence on system dynamic stability. In order to further analyze the influence of these two factors, both of the braking force distribution and the pitch motion are considered in the modeling. Finally, the ideal braking force distribution domain is proposed. Results can be adopted to explain the experimental phenomenon and serve as a guideline for the differential braking strategy in stability control of the CTC.

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A driver-adaptive stability control strategy for sport utility vehicles

Cited by 16 publications

References 17 publications

Optimization of Gain Scheduled Controller for an Active Trailer Steering System Using an Evolutionary Algorithm

Optimization of Gain Scheduled Controller for an Active Trailer Steering System Using an Evolutionary Algorithm

A closed-loop directional dynamics control with LQR active trailer steering for articulated heavy vehicle

Influence of braking on dynamic stability of car-trailer combinations

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